1775 IMU Technical Manual
12
Data Output Signal Processing
Message Structure
The IMU outputs data in three selectable formats (A, B, and C).
Figure 10 and Figure 11 provide an example of message A (default)
format and data. Refer to “Appendix C: Electrical Signaling ICD” on
page 31 for more information.
Figure 10: Example Message Format (Format A)
Figure 11: Example Message Data Format (Format A)
* SPFP = Single Precision Floating Point (IEEE-754); DISC = Discrete
Data; UINT8 = Unsigned 8-bit integer; INT16 = Signed 16-bit integer
Function Total # Bytes Description
Header 4 Always 0xFE81FF55; this value will never occur
anywhere else
Message data Varies
Refer to “Appendix C: Electrical Signaling ICD” on
page 31.
CRC 4 See Figure 13 on page 13
Datum
Byte
Number(s)
Data
Type*
Units Notes
X rotational data 5,6,7,8 SPFP Radians or
degrees, selectable
MSB (Byte 5) is output first;
delta angle, rate of rotation,
selectable
Y rotational data 9,10,11,12 SPFP Radians or
degrees, selectable
MSB (Byte 9) is output first;
delta angle, rate of rotation,
selectable
Z rotational data 13,14,15,16 SPFP Radians or
degrees, selectable
MSB (Byte 13) is output
first; delta angle, rate of
rotation, selectable
X acceleration 17,18,19,20 SPFP g MSB (Byte 17) is output first
Y acceleration 21,22,23,24 SPFP g MSB (Byte 21) is output first
Z acceleration 25,26,27,28 SPFP g MSB (Byte 25) is output first
Status 29 DISC 1 = valid data
0 = invalid data
See Figure 12 on page 13
Sequence number 30 UINT8 0-127 Increments for each
message and resets to 0
after 127
Temperature 31,32 INT16 °C, 1/100 °C,
°F, 1/100 °F,
selectable
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